Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1163-1175

https://doi.org/10.1007/s12555-022-0807-z

© The International Journal of Control, Automation, and Systems

Robust Control for Bidirectional Stabilization System With Time Delay Estimation

Shu-sen Yuan, Wen-xiang Deng*, Jian-yong Yao, and Guo-lai Yang

Nanjing University of Science and Technology

Abstract

In this paper, to address the problem of high precision tracking control for bidirectional stabilization system of marching all-electric tank, a continuous nonsingular terminal sliding mode (CNTSM) control method combined with time delay estimation (TDE) technique is presented. First, the nonlinear mathematical model of the bidirectional stabilization system with consideration of actuator dynamics is established. Second, the TDE method is invoked to estimate the unknown system dynamics and provide fascinating model-free structures. Then, a CNTSM surface and a fast TSM reaching law are constructed to guarantee finite-time convergence. The proposed controller no longer requires system dynamics benefiting from TDE, while ensuring high accuracy, fast convergence and good robustness against lumped uncertainty due to the CNTSM manifold and the fast TSM reaching law. The stability and finite-time convergence of the closed-loop system are analyzed applying Lyapunov theory. Extensive comparative results verify the superiority with the proposed controller.

Keywords Bidirectional stabilization system, marching all-electric tank, model-free, nonsingular terminal sliding mode, time delay estimation.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1163-1175

Published online April 1, 2024 https://doi.org/10.1007/s12555-022-0807-z

Copyright © The International Journal of Control, Automation, and Systems.

Robust Control for Bidirectional Stabilization System With Time Delay Estimation

Shu-sen Yuan, Wen-xiang Deng*, Jian-yong Yao, and Guo-lai Yang

Nanjing University of Science and Technology

Abstract

In this paper, to address the problem of high precision tracking control for bidirectional stabilization system of marching all-electric tank, a continuous nonsingular terminal sliding mode (CNTSM) control method combined with time delay estimation (TDE) technique is presented. First, the nonlinear mathematical model of the bidirectional stabilization system with consideration of actuator dynamics is established. Second, the TDE method is invoked to estimate the unknown system dynamics and provide fascinating model-free structures. Then, a CNTSM surface and a fast TSM reaching law are constructed to guarantee finite-time convergence. The proposed controller no longer requires system dynamics benefiting from TDE, while ensuring high accuracy, fast convergence and good robustness against lumped uncertainty due to the CNTSM manifold and the fast TSM reaching law. The stability and finite-time convergence of the closed-loop system are analyzed applying Lyapunov theory. Extensive comparative results verify the superiority with the proposed controller.

Keywords: Bidirectional stabilization system, marching all-electric tank, model-free, nonsingular terminal sliding mode, time delay estimation.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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